<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><code>#include &lt;<a class="el" href="transformation__estimation__svd_8h_source.html">transformation_estimation_svd.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.png" usemap="#pcl::registration::TransformationEstimationSVD_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
  <map id="pcl::registration::TransformationEstimationSVD_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" name="pcl::registration::TransformationEstimationSVD_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map">
<area href="classpcl_1_1registration_1_1_transformation_estimation.html" alt="pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;" shape="rect" coords="0,0,482,24"/>
<area href="classpcl_1_1recognition_1_1_trimmed_i_c_p.html" alt="pcl::recognition::TrimmedICP&lt; pcl::PointXYZ, float &gt;" shape="rect" coords="0,112,482,136"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:ac0303d80b743930c160fa3c16876e1e6"><td class="memItemLeft" align="right" valign="top"><a id="ac0303d80b743930c160fa3c16876e1e6"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:ac0303d80b743930c160fa3c16876e1e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ac4b0578ac435650516e155775a77c2"><td class="memItemLeft" align="right" valign="top"><a id="a5ac4b0578ac435650516e155775a77c2"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a5ac4b0578ac435650516e155775a77c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55ed792254a6571219f55d5dd60a7804"><td class="memItemLeft" align="right" valign="top"><a id="a55ed792254a6571219f55d5dd60a7804"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a55ed792254a6571219f55d5dd60a7804"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a07897a083da1df8960c5888a5374fc02 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a07897a083da1df8960c5888a5374fc02"></a>
typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a07897a083da1df8960c5888a5374fc02 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b20a4f0bf5ab8ba875e98a97d33aff9 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a0b20a4f0bf5ab8ba875e98a97d33aff9"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a0b20a4f0bf5ab8ba875e98a97d33aff9 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e5af204000fd2ca1490b6cae58d1695 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a5e5af204000fd2ca1490b6cae58d1695"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a5e5af204000fd2ca1490b6cae58d1695 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a70e8c902cec810b4430f50e77465cb00"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a70e8c902cec810b4430f50e77465cb00">TransformationEstimationSVD</a> (bool use_umeyama=true)</td></tr>
<tr class="memdesc:a70e8c902cec810b4430f50e77465cb00"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a70e8c902cec810b4430f50e77465cb00">更多...</a><br /></td></tr>
<tr class="separator:a70e8c902cec810b4430f50e77465cb00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8e5a51823fded01fb75c2d082c5e49c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ab8e5a51823fded01fb75c2d082c5e49c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">更多...</a><br /></td></tr>
<tr class="separator:ab8e5a51823fded01fb75c2d082c5e49c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fe2656eeacf42f2a49db0851651c5ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a4fe2656eeacf42f2a49db0851651c5ac">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a4fe2656eeacf42f2a49db0851651c5ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a4fe2656eeacf42f2a49db0851651c5ac">更多...</a><br /></td></tr>
<tr class="separator:a4fe2656eeacf42f2a49db0851651c5ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d4911a7ea2ee1bc54635f2059b31c8b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a1d4911a7ea2ee1bc54635f2059b31c8b">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a1d4911a7ea2ee1bc54635f2059b31c8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a1d4911a7ea2ee1bc54635f2059b31c8b">更多...</a><br /></td></tr>
<tr class="separator:a1d4911a7ea2ee1bc54635f2059b31c8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c3276b3f506d08339686a6d0feaf990"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a2c3276b3f506d08339686a6d0feaf990">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a2c3276b3f506d08339686a6d0feaf990"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a2c3276b3f506d08339686a6d0feaf990">更多...</a><br /></td></tr>
<tr class="separator:a2c3276b3f506d08339686a6d0feaf990"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
<tr class="separator:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
<tr class="separator:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
<tr class="separator:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
<tr class="separator:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a101a408eddee97434c8d5cebfc3c099a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a101a408eddee97434c8d5cebfc3c099a">estimateRigidTransformation</a> (<a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;source_it, <a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;target_it, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a101a408eddee97434c8d5cebfc3c099a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a101a408eddee97434c8d5cebfc3c099a">更多...</a><br /></td></tr>
<tr class="separator:a101a408eddee97434c8d5cebfc3c099a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95dd96b2e6cce3a1add3ce7648434134"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a95dd96b2e6cce3a1add3ce7648434134">getTransformationFromCorrelation</a> (const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_src_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_src, const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_tgt_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a95dd96b2e6cce3a1add3ce7648434134"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a95dd96b2e6cce3a1add3ce7648434134">更多...</a><br /></td></tr>
<tr class="separator:a95dd96b2e6cce3a1add3ce7648434134"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a395a2b2f9c5d85e883b0b81ec08c4c5b"><td class="memItemLeft" align="right" valign="top"><a id="a395a2b2f9c5d85e883b0b81ec08c4c5b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_umeyama_</b></td></tr>
<tr class="separator:a395a2b2f9c5d85e883b0b81ec08c4c5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a></b> implements SVD-based estimation of the transformation aligning the given correspondences.</p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Dirk Holz, Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a70e8c902cec810b4430f50e77465cb00"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70e8c902cec810b4430f50e77465cb00">&#9670;&nbsp;</a></span>TransformationEstimationSVD()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::<a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a> </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_umeyama</em> = <code>true</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">use_umeyama</td><td>Toggles whether or not to use 3rd party software </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                                                           :</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          use_umeyama_ (use_umeyama)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        {}</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a2c3276b3f506d08339686a6d0feaf990"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2c3276b3f506d08339686a6d0feaf990">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, correspondences, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, correspondences, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_s_v_d_html_ab8e5a51823fded01fb75c2d082c5e49c"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">pcl::registration::TransformationEstimationSVD::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_svd.hpp:47</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ab8e5a51823fded01fb75c2d082c5e49c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab8e5a51823fded01fb75c2d082c5e49c">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">size_t</span> nr_points = cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != nr_points)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, nr_points, cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a1d4911a7ea2ee1bc54635f2059b31c8b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1d4911a7ea2ee1bc54635f2059b31c8b">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != indices_tgt.size ())</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, indices_tgt);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a4fe2656eeacf42f2a49db0851651c5ac"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4fe2656eeacf42f2a49db0851651c5ac">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a101a408eddee97434c8d5cebfc3c099a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a101a408eddee97434c8d5cebfc3c099a">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[5/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>source_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>target_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">source_it</td><td>an iterator over the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_it</td><td>an iterator over the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Convert to Eigen format</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> npts = <span class="keyword">static_cast &lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_it.size ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">if</span> (use_umeyama_)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    Eigen::Matrix&lt;Scalar, 3, Eigen::Dynamic&gt; cloud_src (3, npts);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    Eigen::Matrix&lt;Scalar, 3, Eigen::Dynamic&gt; cloud_tgt (3, npts);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      cloud_src (0, i) = source_it-&gt;x;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      cloud_src (1, i) = source_it-&gt;y;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      cloud_src (2, i) = source_it-&gt;z;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      ++source_it;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      cloud_tgt (0, i) = target_it-&gt;x;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      cloud_tgt (1, i) = target_it-&gt;y;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      cloud_tgt (2, i) = target_it-&gt;z;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      ++target_it;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="comment">// Call Umeyama directly from Eigen (PCL patched version until Eigen is released)</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    transformation_matrix = pcl::umeyama (cloud_src, cloud_tgt, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    source_it.reset (); target_it.reset ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// &lt;cloud_src,cloud_src&gt; is the source dataset</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    Eigen::Matrix&lt;Scalar, 4, 1&gt; centroid_src, centroid_tgt;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">// Estimate the centroids of source, target</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (source_it, centroid_src);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (target_it, centroid_tgt);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    source_it.reset (); target_it.reset ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// Subtract the centroids from source, target</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; cloud_src_demean, cloud_tgt_demean;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (source_it, centroid_src, cloud_src_demean);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (target_it, centroid_tgt, cloud_tgt_demean);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a95dd96b2e6cce3a1add3ce7648434134">getTransformationFromCorrelation</a> (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_s_v_d_html_a95dd96b2e6cce3a1add3ce7648434134"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a95dd96b2e6cce3a1add3ce7648434134">pcl::registration::TransformationEstimationSVD::getTransformationFromCorrelation</a></div><div class="ttdeci">virtual void getTransformationFromCorrelation(const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_src_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_src, const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_tgt_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'</div><div class="ttdef"><b>Definition:</b> transformation_estimation_svd.hpp:172</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a95dd96b2e6cce3a1add3ce7648434134"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a95dd96b2e6cce3a1add3ce7648434134">&#9670;&nbsp;</a></span>getTransformationFromCorrelation()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::getTransformationFromCorrelation </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src_demean</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt_demean</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt' </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src_demean</td><td>the input source cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_src</td><td>the input source centroid, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt_demean</td><td>the input target cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_tgt</td><td>the input target cloud, in Eigen format </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant 4x4 rigid transformation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html#a24b6ba0736daf1850e69154274ba3838">pcl::registration::TransformationEstimationSVDScale&lt; PointSource, PointTarget, Scalar &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// Assemble the correlation matrix H = source * target&#39;</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner (3, 3);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// Compute the Singular Value Decomposition</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  Eigen::JacobiSVD&lt;Eigen::Matrix&lt;Scalar, 3, 3&gt; &gt; svd (H, Eigen::ComputeFullU | Eigen::ComputeFullV);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; u = svd.matrixU ();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; v = svd.matrixV ();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="comment">// Compute R = V * U&#39;</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">if</span> (u.determinant () * v.determinant () &lt; 0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; 3; ++x)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      v (x, 2) *= -1;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; R = v * u.transpose ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Return the correct transformation</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  transformation_matrix.topLeftCorner (3, 3) = R;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; Rc (R * centroid_src.head (3));</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  transformation_matrix.block (0, 3, 3, 1) = centroid_tgt.head (3) - Rc;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__svd_8h_source.html">transformation_estimation_svd.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="transformation__estimation__svd_8hpp_source.html">transformation_estimation_svd.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>registration</b></li><li class="navelem"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
